We theoretically analyze the collective dynamics of a thermal beam of atomic dipoles that couple to a single mode when traversing an optical cavity. For this setup we derive a semiclassical model and determine the onset of superradiant emission and its stability. We derive analytical expressions for the linewidth of the emitted light and compare them with numerical simulations. In addition, we find and predict two different superradiant phases; a steady-state superradiant phase and a multi-component superradiant phase. In the latter case we observe sidebands in the frequency spectrum that can be calculated using a stability analysis of the amplitude mode of the collective dipole. We show that both superradiant phases are robust against free-space spontaneous emission and $T_2$ dephasing processes.
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